Virtual Wall with the 3D printed haptic prototype

Our prototype of our version of the 3D printed Stanford’s Hapkit V3.0 is now functional. It uses the same electronics and motor. The pulley sizes are the same, however the big wheel has been redesigned to properly attach and support the capstan cable. The support wall has been optimized and reinforced using dual common ball bearings.

 

A demonstration of the virtual wall implementation is show in the video below.

 

Follow this project at: http://gomezdegabriel.com/projects/haptic-paddle-3d-printed/

 

Presented Master Thesis on autonomous electrical vehicles

The amazing work of Francisco García was bringing to life one of the old electrical tricycle used for people transportation inside the Expo’92 in Seville, last century.

His work was to design and implement an steering control system. We used new lead batteries (12 + 12V) and added a servomotor with direct coupling to the steering axe.

The controller has been implemented with an Arduno Mega and the PID control has been tuned and programmed in simulink.

For testing purposes, an open loop throttle control system has been added, making it easy to remote drive the vehicle using a PS2 wireless joypad.

It was bot hard and fun.

Thanks, Francisco!

Presented Master Thesis about robot self-tooling

Today, Jose María Herrero presented his work about robot self-tooling.

Jose María Presented the Robot Self-tooling concept.

Jose María Presented the Robot Self-tooling concept.

This a new concept involving 3D printing and robotics, where a robot can build and change his fingers automatically.

This setup uses a 3D printer extruder and a fingerless gripper with two dynamixel ax12 servos. He also had to deal with VAL3 for the programming the staubli TX60, and made a program in Python to send the G-codes.

Check the video:

Good job, José María.

Building Zowi, the Open Source Robot

This was a very nice week-end project: building the BQ’s Zowi Open Source Robot.

You just need a 3D printer, 4 standard servos, an Arduino and cables.

Zowi Open Source Robot

Zowi Open Source Robot

I found the source at http://diwo.bq.com/zowi-cc-by-sa/

After the build I found some suggestions:

What a mess!

What a mess!

Hardware: Not all the servos come with the hub size used in the design.

Software: You have to manage to find the ocillator library and correct some misspellings.

Assembly:

  • The BQ arduino version is very cool but is not easy to find. You can use your standard arduino uno making a bigger hole on the head shell.
  • An extra hole for the switch is important too.
  • The hardest part is to fit the head shell with all the cables. A redesign with the arduino fixed toi the chasis instead of the shell could help

Many thanks to the BQ team!

 

New joints for the animatronic robot

Wall-e is an old animatronic robot we build for entertainment and social robotics research.

It is also used as a valuable platform for students projects.

Its joints are driven by different kinds of RC servos, and sometimes the servo axle is used as the robot joint. This is a weak design point and we had to change this.

We needed a neck replacement and we found a “Servo Block” kit for Hitec servos which was perfect for our robot. It was 29€ over our budget (0€) but the MechatronicMan foundation helped again.

Servo Block was perfect for our robot neck

Servo Block was perfect for our robot neck

 

As we ran out of budget we had to design and build new shoulders.

We originally used a Lynxmotion Servo joint with poor axial bearings but it was not solid enough.

Our new design used “standard” skates ball bearings. with two parts: A 3mm width aluminium plate and a 100mm width bearing support.

The old ISEL cpm 3020 did a nice work with a 3mm single flute straight carbide bit.

20140703_135424 (1)20140703_173840 After a sandblasting the plate looks very professional! isn’t it?

20140703_183151

 

And the final assembly with the quarter scale RC servo gives a solid joint for our robot.

20140704_120804

That’s all. I just wanted to show it.

In the future I’m not using RC servos anymore unless I build a toy robot.

By the way, the joint in action were seen in last post : Animatronic at the Postgraduate Courses presentation 2015-16

Bye.

Animatronic at the Postgraduate Courses presentation 2015-16

Our animatronic robot made a new appearance after some neck and shoulder surgery.

This was the first Postgraduate Course presentation of the University of Málaga.

We had to refurbish some of the Wall-e’s old joints, but he´s a good nice robot and did his job nicely.

Some work has to be done to improve the robot’s power system and battery charge. Anyone?

Many thanks again to my postgraduate students.

 

More videos of Wall-e in this playlist: